An extension of tuning relations after symmetrical optimum method for PI and PID controllers

Sensitivity Analysis of Low Cost Fuzzy Controlled Servo Systems

“…with the gains k ci (or k Ci ) and the integral time constants T ci , 2 , 1 = i , tuned by the Extended Symmetrical Optimum (ESO) method (Preitl and Precup, 1999), can ensure good CS performance. The ESO method guarantees for the two inner control loops (in Fig.…”

“…5 and -in the case of robot control -the parameters ε x and ε y ; -use (7) to tune the parameters of the basic continuous-time PI controllers {k c1 , T c1 } (for C1) and {k c2 , T c2 } (for C2); -add to the CS structure the accordingly chosen feed forward filters F1 and F2 (Preitl and Precup, 1999). (2) The fuzzification of the basic linear PI controllers: -set a sufficiently small sampling period, h, accepted by quasi-continuous digital control and take into account the presence of zero-order hold blocks, discretize the two continuous-time PI controllers and compute the parameters of the two quasi-continuous digital PI controllers,…”

Models for Force Control in Telesurgical Robot Systems

“…The third unified feature is the use of the Extended Symmetrical Optimum (ESO) method [ [51], [52]], to tune the parameters of the inner and outer PI and/or PID controllers. For example, using the inner PID controller transfer function:…”

Stability Analysis of Fuzzy Control Systems. Multivariable Point of View

“…with the gain k c tuned in terms of the Extended Symmetrical Optimum (ESO) method (Preitl and Precup, 1999), can ensure good control system (CS) performance:…”

“…5. The CS performance indices can be improved by adding feed-forward filters (Preitl and Precup, 1999).…”